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motorsts_1 (motor_clnt.c RPC)
Motor daemon calling sequence:
Motorsts_1 (clientFuncs.c)
animaticsSts (animatics.c)
intRequest (connectFuncs.c)
procAnimaticsCmd −> sendCommand and getAnswer (animatics.c)
2.2 Motor−specific keywords
The motor− specific keywords are those in which the motor number is embedded in the keyword
name. The general form is MTR<motor number><suffix>. An example would be ‘modify −s
nirc2m mtr1stop=1’. Note that any non−zero value will cause the desired operation although
these keywords are typically Boolean.
Of the motor−specific keywords, HOME, KILL or ABORT, STOP or HALT, DELTA or DEL,
and RAW, are affected by the nowait option of the modify command. The default is wait, such
that the keyword library waits until homing is complete or a motor stops moving. The waits have
timeouts that are specified in the nirc2_mechanism.config file (refer to section ).
To cause one of these commands to terminate without waiting one would use the modify
‘nowait’ option (e.g. ‘modify −s nirc2m mtr1stop=1 nowait’). In addition, the keywords which
cause motion, (DELTA or DEL, and RAW are affected by the wait flag in that motion will not
commence until the motor is idle (wait), or an error is returned (nowait) when the motor is not
idling at the time of the command.
One of the major differences between the motor−specific keywords and the generic motor
keywords is that the motor−specific keywords do not take an argument (recall that the motor
numbers are embedded in the motor−specific keyword names) so they can be read and written
(where necessary) and two keywords are not needed for Boolean−type operations.
Some of the motor−specific keywords are read only, some are write only, and some are
read/write. The descriptions and function calls for most of the motor−specific keywords are
identical to those provide in the subsections for the generic motor keywords, therefore, the
following subsections only pertain to those motor−specific keywords which either have no
generic motor keyword counterpart and/or significantly differ from the generic motor keywords.
2.1 ACCEL
The ACCEL suffix refers to a motor’s motor acceleration parameter. As of November 2000 this
is a write only operation.
Note that the non−operational keywords of this type may be removed from the default
configuration file nirc2_config_file at some point.
Writing to an acceleration keyword will invoke cmdMotor() within motorKeyword.c. The
complete calling sequences follow.